CN106184602A - Control equipment for the automatic transmission of bicycle - Google Patents
Control equipment for the automatic transmission of bicycle Download PDFInfo
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- CN106184602A CN106184602A CN201610343870.8A CN201610343870A CN106184602A CN 106184602 A CN106184602 A CN 106184602A CN 201610343870 A CN201610343870 A CN 201610343870A CN 106184602 A CN106184602 A CN 106184602A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
- B62M25/08—Actuators for gearing speed-change mechanisms specially adapted for cycles with electrical or fluid transmitting systems
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Abstract
Provide the control equipment of a kind of automatic transmission for bicycle.Control equipment includes the controller being configured to indicate automatic transmission to shift gears between multiple velocity stages, each velocity stage have be associated step on frequency scope, wherein, described controller is further configured to determine the running resistance of described bicycle, if and described running resistance exceedes predetermined threshold, the most described controller be configured to adjust described in step at least one in frequency scope and described at least one step on after frequency scope adjusts, described controller is further configured to operate described automatic transmission to shift gears based on the frequency scope of stepping on adjusted and the frequency of stepping on detected.
Description
Background technology
Many bicycles include the manual shift power train with one or more derailleur and sprocket wheel
System.Derailleur causes and moves between chain sprocket wheel in drive system.Derailleur is via being arranged on hands
The gearshift of the come-at-able position of other rider on upper or bicycle is manually shifted gears.
Thus, rider need to initiate gearshift input with the gear ratio in change bicycle.For unskilled and
Skilled rider, the manual shift input of this type all can be difficult to grasp.Rider may be not close
Suitable power, opportunity or direction activates manual shift and controls, and result is the gearshift behaviour that rider is intended
Work can be performed not in time or irrelevantly.Result is, may result in inefficient gear ratio, and
And can affect rider trample efficiency.
Have been developed for the demand with elimination, rider shifted gears for the automatic transmission system of bicycle,
Improve and trample efficiency and the operation of reduced proper motion car.But, when determining the speed selected in drive system
During degree level (for example, gear ratio), automatic transmission system before only considers stepping on frequently of bicycle.
The different resistance of bicycle is given including such as resistance to rolling, drive system resistance, centrifugal force etc.
Other factor also can affect tramples efficiency and gearshift performance.
Summary of the invention
According to the first aspect of the invention, it is provided that the control of a kind of automatic transmission for bicycle
Equipment.Control equipment can include the control being configured to indicate automatic transmission to shift gears between multiple velocity stages
Device processed, each velocity stage have be associated step on frequency scope.Controller can be further configured to determine certainly
The running resistance of driving.If running resistance exceedes predetermined threshold value, controller can be configured to adjustment and steps on
Frequently at least one in scope, and adjust this at least one step on frequency scope after, controller can enter
One step is configured to operate automatic transmission, to enter based on the frequency scope of stepping on adjusted and the frequency of stepping on detected
Row gearshift.One potential advantage of this configuration is such as by considering row when performing gear shift operation
Enter resistance, velocity stage can be selected, which improve and trample efficiency and during rider inputs high torque
Avoid ear-piercing gear shift operation.
In the first aspect, controller can be configured to receive from bicycle speed sensor, crank rotation
Rotary speed sensor and the sensor of at least one input stepped in video sensor, and based on sensor
Input calculates running resistance.One potential advantage of this configuration is can be based on different sensors
Input determines running resistance, to increase reliability and the degree of accuracy that running resistance calculates, changes to improve
Gear operation.
In the first aspect, controller can be configured to according to below equation calculating running resistance:
Wherein
T=moment of torsion；
The quantity (time per unit) that N=crank axle rotates；
M=bicycle and the quality of rider；And
V=bicycle speed.
Above-mentioned formula is used to calculate a potential advantage of running resistance for row can be accurately determined
Enter resistance.
In the first aspect, controller can be further configured to: in the first shift mode, based on inspection
Measure step on frequency, from each have be associated step on frequency scope multiple velocity stages among determine speed
Level；And in the second shift mode, determine based on the running resistance detected and the frequency of stepping on detected
Velocity stage.Running resistance is for example, received by one potential advantage of this configuration when selecting velocity stage
Entering to consider only to carry out when expectation, this can improve gear shift operation and efficiency is trampled in raising.
In the first aspect, the first shift mode can be general mode, when running resistance is less than pre-
It is suitable for the first shift mode during fixed threshold value, and the second shift mode can be high capacity pattern, when
Running resistance is suitable for the second shift mode when exceeding predetermined threshold value.Use threshold value to determine changing of selection
One potential advantage of gear pattern is for such as to enable running resistance only to have aobvious at it to trampling efficiency
Write and use, to improve bicycle operation when of impact.
In the first aspect, at least two in velocity stage step on frequency scope identical or overlapping.Use
One potential advantage of similar or overlapping velocity stage can such as provide smooth gear shift operation,
It has the most rude conversion and moves.
In the first aspect, in the first shift mode, step on frequency based on target and may determine that in velocity stage
At least one step on frequency scope.Target is used to step on a potential advantage of frequency for enabling rider
Trample in the range of desired stepping on frequently, trample efficiency, minimizing rider's fatigue and minimizing with raising and step on
Step on injured probability.
In the first aspect, in the first shift mode, target steps on frequency can be program-controlled by user.
One potential advantage of this configuration is that rider can step on according to the preference adjustment target of rider
Frequently, adaptability and the CSAT of control equipment are increased.
In the first aspect, controller can be further configured to commencing speed level dancing mode, in speed
Level dancing mode in, step on temporarily frequency scope may be set to more than in the first shift mode step on frequency scope,
And if step on frequency beyond in velocity stage dancing mode step on frequency scope temporarily outside, when controller does not leaves
Begin the second shift mode time, controller can start again at the first shift mode.One of this configuration
Potential advantage is to avoid unwanted gear shift operation (for example, to cause the Tang of noise and vibration
Prominent and ear-piercing gearshift conversion), such as to improve gear shift operation.
In the first aspect, controller can be further configured to when detecting that bicycle speed is essentially a zero
Time start stop mode, and wherein in stop mode, step on frequency scope and may be set to and velocity stage phase
The predetermined of association steps on frequency scope.One potential advantage of this configuration is such as to stop when bicycle
Desired velocity stage can be set time only, so that rider can trample from static with desired frequency of stepping on,
And excessive moment of torsion need not be applied.
In the first aspect, controller can be further configured to when input energy is up to or in advance
High capacity pattern is started during fixed threshold value.One potential advantage of this configuration is as rider self
During overexertion, high capacity can be started, trample fatigue with minimizing and efficiency is trampled in improvement.
In the first aspect, controller can be further configured to detect when high capacity patten transformation
Frequency is stepped in conversion, and is configured to when the frequency frequency scope of stepping on more than present speed level is stepped in the conversion detected
During lower limit, adjust and step on frequency scope, step on the lower limit of frequency and higher than detection to have less than the conversion detected
To conversion step on frequency the upper limit.One potential advantage of this configuration is for such as can avoid in pattern
The unwanted gearshift of transition period, to improve gear shift operation.
In the first aspect, controller can be further configured to detect when high capacity patten transformation
Frequency is stepped in conversion, and is configurable to when the conversion detected steps on frequency less than or equal to present speed level
Step on frequency scope lower limit time, adjust step on frequency scope, with have less than present speed level step on frequency scope
Current lower limit lower limit and higher than the upper limit of current upper bound stepping on frequency scope.One of this configuration dives
Advantage be such as to avoid the unwanted gearshift during patten transformation, with improve gearshift behaviour
Make.
In the first aspect, the frequency scope of stepping on of adjustment in high capacity pattern is dropped to when the frequency of stepping on detected
Time under lower limit, controller is configurable to determine whether possible downshift, and if it is possible, order
Downshift operates；And if its middle controller can be further configured to controller and not start high capacity mould
If formula and present speed level are equal to or less than predetermined minimum downshift velocity stage, forbid that downshift is grasped
Make.One potential advantage of this configuration for when demand provide desired gear shifting characteristic time, Ke Yitong
Cross control equipment and implement downshift selectively.
In the first aspect, predetermined minimum downshift velocity stage sets according to user and determines.This join
The potential advantage put is that rider can adjust minimum downshift velocity stage according to their preference,
Increase adaptability and the CSAT of control equipment.
This summary of the invention is provided as introducing in simplified form the concept of selection, hereafter in detailed description of the invention
In will be further described these select concept.This summary of the invention is not intended to master the most required for protection
The key feature of topic or basic feature, be also not intended for limiting the scope of theme required for protection.
And, theme required for protection is also not restricted to solve described appointing in any part disclosed in this
What or imperfect embodiment.
Accompanying drawing explanation
By the example in the figure of accompanying drawing and do not illustrated the disclosure with being limited, attached by the figure institute of accompanying drawing
The element that reference instruction similar in figure is similar, and wherein:
Fig. 1 shows the example with flower-drum assembly having according to the first embodiment of the invention certainly
The diagrammatic view of driving；
Fig. 2 and 3 shows the flow chart of the method for the automatic transmission for operating bicycle；
Fig. 4 shows the flow chart of the method for operating the automatic transmission in high capacity pattern；
Fig. 5 shows and selects for the automatic transmission operating in bicycle to perform shift mode and change
The flow chart of the method for gear operation；
Fig. 6 shows the flow chart of the method for determining running resistance；
Fig. 7 shows the method for performing shift mode selection in the automatic transmission of bicycle
Detailed flow chart；
Fig. 8 shows the method for performing shift mode selection in the automatic transmission of bicycle
Another detail flowchart；And
Fig. 9 shows the detailed flow process of the method for performing gear shift operation in automatic transmission
Figure.
Figure 10 shows the side view of an example arrangement of the example bicycle of Fig. 1.
Detailed description of the invention
The selected embodiment of the present invention is described referring now to accompanying drawing.Those skilled in the art is from this
Disclosure it will be seen that, the following description to embodiments of the present invention provided is merely an illustrative,
Having no intention to limit the present invention, the present invention is limited by appended claim and equivalent way thereof.
With reference first to Fig. 1, bicycle 1 includes control equipment 10.Control equipment 10 can include automatically becoming
Speed device 2, controller 3 and one or more sensor 4.Automatic transmission 2 can include multiple speed
Degree level 14 and input equipment 15.Velocity stage 14 can have be associated step on frequency scope.Controller 3
Can be configured to indicate automatic transmission 2 to shift gears between multiple velocity stages.In one example, speed
The each of level 14 has that be associated and predetermined gear ratio.Such as, each of velocity stage has
Sprocket wheel ratio before and after correspondence.But, in other example, automatic transmission system can include continuously may be used
The gear adjusted, or interior colored hub gear (internal hub gears).
Controller 2 can include the instruction being stored in memorizer 7, and it can be performed by processor 8, with
Perform method described herein.Sensor 4 can include that bicycle speed sensor 11, crank rotate and pass
Sensor 12 and at least one stepped in video sensor 13.In this way, it is possible to detection is the most certainly
The variable of frequency stepped on by road speed, crankshaft speed and bicycle, is used for calculating subsequently the row of such as bicycle
Enter resistance.
Automatic transmission 2 can include multiple velocity stage 14.Velocity stage is defined for the automatic of bicycle
The specific gear ratio of variator.In one example, velocity stage can be discontinuous.That is
Multiple predetermined gear ratio is there is in such embodiment.But, in other implementations
Multiple continuous print velocity stage can be there is.
In an illustrative embodiments, velocity stage may be included in chain wheel set (for example, flywheel)
In the front chain wheel of selection and the rear sprocket wheel of selection.But, anticipate other the joining of velocity stage
Put.Such as, velocity stage can be to select the transmission components from continuous variable or internal speed-changing flower-drum,
Or sprocket wheel variable in variator before or after such as, bicycle can be only included in.
Control equipment 10 may also include input equipment 15.Input equipment 15 can include button, touch-sensitive set
Standby (for example, touch pad, touch screen), display etc., it enables rider automatically becoming
Speed device select the most predetermined all minimum downshift velocity stage, target to step on frequency etc.
Different settings.Thus, predetermined minimum downshift velocity stage and/or target step on frequency can pass through user
Program control.In this way, become for some used in the self shifter technology described in further detail herein
Amount can be selected by the user to provide the self shifter operation of rider's customization.So, can increase and ride
The person's of taking advantage of satisfaction.When operated, manual shift signal is provided to controller by input equipment 15.Automatically
Variator is substantially automatically controlled by controller 3.But when controller 3 receives from input equipment
15 gear shifting signal time, controller controls automatic transmission provisionally based on gear shifting signal.Exist further
In other embodiment, input equipment 15 can be integrated into the control equipment, automatically of such as controller 3
In the parts of variator 2 grade.The most in other implementations, such as smart mobile phone, flat board
The input equipment 15 of computer or PC can separate and via Wireless Telecom Equipment with control equipment
It is connected with controller.Automatic transmission 2 or more generally bicycle 1 can include being configured to receive
From the crank axle 16 trampling input of rider.Crank axle 16 is configured to rotating energy is transferred to speed
Level 14.Shift device 17 (for example, derailleur) can also be provided in automatic transmission 2, with
Gear shift operation can be carried out between multiple velocity stages 14.Therefore, in one example, shift device
17 may be coupled to velocity stage 14.And, shift device 17 can be configured to receive from controller 3
Gearshift order.In this way, controller 3 may indicate that automatic transmission 2 is with by shift device 17
Operation downshift and upshift between multiple velocity stages 14.
Will be appreciated by is that bicycle 1 can include such as front vehicle wheel and rear wheel, vehicle frame, brakes etc.
The add-on parts that is typically included in bicycle, parts etc..
Fig. 2 and 3 shows method M1 for operating the automatic transmission for bicycle.Fig. 1
Shown in the control equipment 10 including automatic transmission 2 and controller 3 can be used for implementation M1
And describe in further detail herein method M2, M3, M4, M5, M6 and M7.Specifically, figure
Controller 3 shown in 1, can be configured to implement method steps described herein.But, other
In embodiment, other suitable control equipment with automatic transmission, controller etc. can be used for reality
Execute method steps described herein.
At S1, the method includes indicating automatic transmission to shift gears between multiple velocity stages.Velocity stage
Each have be associated step on frequency scope.Between multiple velocity stages gearshift can include via one or
The multiple such as derailleur of person (for example, front chain mover and/or rear chiain-moving device) or internal speed-changing flower-drum
Shift device change automatic transmission in velocity stage (for example, gear than).But,
Through anticipating the shift device being suitable for of many.The most in one embodiment, automatic transmission
Can have multiple discontinuous velocity stage (for example, discontinuous gear ratio).Such as, speed
Level can include the front sprocket wheel of selection and/or rear sprocket wheel.But, in other implementations, automatically become
Velocity stage in speed device can be that continuously adjustabe is whole.
Next, at S2, the method includes the running resistance determining bicycle.Determine the row of bicycle
Enter resistance and can include step S3-S4.At S3, the method includes receiving from bicycle speed sensing
Device, crank rotation sensor and the sensor of at least one input stepped in video sensor.A reality
Execute in mode, the sensor from above-mentioned whole sensor can be received and input.In this way, it is possible to
Detect that frequency stepped on by bicycle speed, crankshaft speed and bicycle.At S4, the method includes based on biography
Sensor input calculates running resistance.Calculate running resistance based on sensor input and can include step S5.
At S5, the method includes according to below equation calculating running resistance:
Wherein
T=moment of torsion；
The number (time per unit) that N=crank axle rotates；
M=bicycle and the quality of rider；And
V=bicycle speed
But, in other implementations, can use can simulate running resistance other be suitable for
Formula determines running resistance.
At S6, the method includes that whether the running resistance determining bicycle is more than threshold value.Other
In embodiment, other technology rather than running resistance threshold value can be used to determine that shift mode selects.
Such as, in other implementations, can use step on frequency and/or speed to determine that shift mode selects.
If it is determined that running resistance is more than threshold value (being yes at S6), then method advances to S7.
At S7, the method includes implementing the first shift mode.In the first shift mode, the method includes
At S8 based on detect step on frequency from each have be associated step on frequency scope multiple velocity stages it
In determine velocity stage.Thus, in the first shift mode, owing to resistance is to bicycle stampede operation
Effect significantly may not can not consider running resistance.In one embodiment, in velocity stage extremely
Few two to step on frequency scope identical or overlapping.The velocity stage with overlap can increase smooth gear shift operation
Probability.But, in other implementations, velocity stage can not be overlapping.Further at one
In embodiment, in the first shift mode, the frequency scope of stepping on of at least one of velocity stage is based on mesh
Mark steps on what frequency determined.In such embodiment, in one example, target steps on frequency by using
Person is program-controlled.Such as, rider can use input equipment to select target to step on frequency program controlly.With this
Mode, rider can select desirable target to step on frequency, thus increase the adaptability of variator.But
In other example, target is stepped on frequency and can be automatically determined by controller and non-user input.
If it is determined that running resistance is less than threshold value (being no at S6), method advances to S9.?
At S9, the method includes whether the input energy determined to automatic transmission is more than or equal to predetermined threshold
Value.In other implementations, step S9 can be omitted from method M1.If it is determined that input energy
Amount is not more than or equal to predetermined threshold (being no at S9), method proceeds to S7.But, as
Fruit determines input energy and is more than or equal to predetermined threshold (being yes at S9), and method advances to
S10。
At S10, the method includes implementing the second shift mode.In the second shift mode, the party
Method is included at S11 and adjusts at least one stepped in frequency scope.In one embodiment, can pass through
Predetermined value adjusts steps on frequency scope.Such as, by predetermined revolutions per minute (rpm), can rank
The upper limit and/or the lower limit of frequency scope is stepped in the change of ladder type ground.Adjustment is stepped on frequency scope and can be made to trample efficiency raising
And may also allow for improving gear shift operation (for example, smoother gear shift operation).
Next, at S12, the method includes operating automatic transmission to step on frequency scope based on adjust
Shift gears with the frequency of stepping on detected.
Next, at S13, perform to determine speed based on the running resistance detected and the frequency of stepping on detected
Degree level.In this way, by considering that multiple variablees can improve velocity stage and select.So, Ke Yiti
Height is trampled efficiency and can improve gear shift operation.In one embodiment, the first shift mode can
Can be high capacity pattern for general mode and the second shift mode.But, anticipate other classes
The pattern of type.
With reference now to Fig. 3, at step S14, the method determines that velocity stage dancing mode whether should
Start.Entry condition can be used for determining the enforcement of velocity stage dancing mode, and such as controller 3 receives
Gear shifting signal from input equipment 15.
If it is determined that velocity stage dancing mode should start (being yes at S14), method advances to
S15.At S15, the method includes commencing speed level dancing mode.Commencing speed level dancing mode can
Including step S16-S18.At S16, the method includes stepping on frequency range set for more than first temporarily
In shift mode step on frequency scope.At S17, whether the method includes determining steps on frequency beyond stepping on temporarily
Frequently scope.If stepping on frequency without departing from stepping on frequency scope (being no at S17) temporarily, method is back to S17.
But, if stepped on frequently beyond stepping on frequency scope (being yes at S17) temporarily, method advances to S18.
At S18, the method includes starting again at the first gearshift when controller does not starts the second shift mode
Pattern.Therefore, as indicated, if the second shift mode does not starts at S18, then method can
To be back to S7.But, if having started the second shift mode, then method can be back to S12.
At S19, method includes determining whether stop mode should start.Will be appreciated by is off mould
Formula can speed based on bicycle start.Such as, when the speed of bicycle is less than threshold value, or
In one specific examples essentially a zero time, stop mode can be started.
If it is determined that stop mode should not start (being no at S19), method terminates, and
Typically it is back to the state that method can be launched at S1 again wherein.However, if it is determined that stop
Only pattern should start (being yes at S19), and method proceeds to S20.At S20, method bag
Include beginning stop mode.Start stop mode to may be included in and S21 at, will step on frequently that range set is extremely and speed
What level was associated predetermined steps on frequency scope.In this way, for example, it is possible to select enable rider from
Stop the velocity stage accelerating rapidly, to improve bicycle operation.
Fig. 4 shows method M2 that the specific technology for implementing high capacity pattern is described in detail in detail.As above
Described illustrates in figs. 2 and 3 about method M1, and the second shift mode can be high capacity pattern.
At S22, the method includes determining whether high capacity pattern should start.An embodiment party
In formula, high capacity pattern can be about as described in method M1, running resistance based on bicycle and/or defeated
Enter energy to start.
If it is determined that high capacity pattern should start (being yes at S22), method proceeds to S23.
At S23, the method includes implementing high capacity pattern.Implement high capacity Mode S 23 and can include step
S24-S36.At S24, method includes that frequency is stepped in detection conversion when the conversion of high capacity pattern.High-ranking military officer
Can be high capacity patten transformation may be included in based on the running resistance detected and detect step on frequency really
Determine the time period before the step of velocity stage.
At S25, the method determines that frequency the most whether stepping under frequency scope more than present speed level is stepped in conversion
Limit.If it is determined that frequency is stepped in conversion more than the lower limit stepping on frequency scope of present speed level (at S25 it is
It is), then method proceeds to S26.At S26, the method includes when the conversion detected steps on frequency greatly
When the lower limit stepping on frequency scope of present speed level, adjust and step on frequency scope to have the conversion less than detection
Step on the lower limit of frequency and step on the upper limit of frequency higher than the conversion of detection.
However, if it is determined that conversion step on frequency be not more than present speed level step on frequency scope lower limit (
It is no at S25), then method proceeds to S27.At S27, the method includes when the conversion of detection
When stepping on the lower limit stepping on frequency scope that frequency is less than or equal to present speed level, adjust and step on frequency scope to have
Less than present speed level step on frequency scope current lower limit lower limit and higher than step on frequency scope current on
The upper limit of limit.What at S28, the method determined stepping on of detecting whether frequency be down to adjust steps on frequency scope
Under lower limit.
If be detected that step on frequency do not drop to adjust step on frequency scope lower limit under (at S28 be
No), method moves to S32.But, if be detected that step on that frequency drops to adjust step on frequency scope
Under lower limit (being yes at S28), method proceeds to S29.
At S29, the method includes determining whether downshift operation is possible.If it is determined that downshift
Operation is possible (being yes at S29), and method proceeds to S30.If present speed state
Not being predetermined minimum speed level, downshift operation is possible.At S30, the method includes order
Downshift operates.However, if it is determined that downshift operation is impossible (being no S29 at), just
Method proceeds to S31.At S31, method includes forbidding that downshift operates.
At S32, the method determines that detect steps on whether frequency steps on the higher of frequency scope more than adjust
The limit.If be detected that step on frequency be not more than adjust step on frequency scope the higher limit (at S32
Place is no), method is back to S28.But, if be detected that step on frequency more than adjust step on frequency model
The higher limit (being yes at S32) enclosed, method advances to S33.
At S33, method includes determining whether upshift operation is possible.If it is determined that upshift behaviour
Work is possible (being yes at S33), and method proceeds to S34.At S34, method includes order
Upshift operates.However, if it is determined that upshift operation is impossible (being no S33 at), just
Method proceeds to S35.If current speed state is not predetermined maximal rate level, then upshift operation
It is possible.At S35, method includes forbidding that upshift operates.
However, if it is determined that high capacity pattern should not start (being no at S22), before method
Proceed to S36.At S36, if the method include if controller do not start high capacity pattern and
Present speed level equal to or less than predetermined minimum downshift velocity stage, then forbids that downshift operates.One
In individual embodiment, set according to user and determine predetermined minimum downshift velocity stage.
Fig. 5 shows method M3 of the gear shift operation in the control equipment for controlling bicycle.?
At S37, the method includes determining running resistance.As discussed above, running resistance can use public affairs
Formula (1) determines.Next, at S38, the method includes the pattern determining operation.As discussed above
, the pattern of operation can include the first shift mode (for example, general mode), the second gearshift
Pattern (for example, high capacity pattern), stop mode and/or velocity stage dancing mode.Gearshift mould
Formula can select based on running resistance, bicycle speed and/or input energy.
Next, at S39, method includes that frequency scope is stepped in adjustment.Can be based on selection in S38
Mode adjustment steps on frequency scope.Change in this way, it is possible to change scope frequently of stepping on based on running resistance to improve
Gear operation.For example, it may be desirable to the amplitude (citing stepping on frequency scope increased in different operator schemes
For, extension is stepped on and is limited above and/or under frequency) to forbid need not when rider applies substantial amounts of energy
Gear shift operation.But, in other example, the amplitude stepping on frequency scope can be reduced.
In one embodiment, when have selected the first shift mode, can not adjust and stepping on frequency scope.
At S40, the method includes determining gear shift operation, and it may be included in and determines at step S41 that downshift is permitted
Can.But will be appreciated by is to may further determine that upshift is permitted.At S42, the method includes order gearshift behaviour
Make.Will be appreciated by is that automatic transmission can be shifted gears and in this way without asking the user of gear shift operation
Input.
Fig. 6 shows that method detailed M4, method M4 show the mode determining running resistance.But,
The many methods for determining running resistance are anticipated.
At S43, the method includes calculating instantaneous potential energy.Next at S44, the method
Including integrating instantaneous energy to calculate input energy.At S45, the method includes determining bicycle speed
Whether sensor has positive reading.If it is determined that bicycle speed sensor does not has positive reading (at S45
Place is no), method terminates.However, if it is determined that bicycle speed sensor has positive reading (at S45
Place is yes), method advances to S46.At S46, method includes calculating the change in operating.
At S47, the method includes calculating the running resistance as the difference between operating and input energy.
In this way, it is possible to be accurately determined running resistance, to determine shift mode when using running resistance
Select.Next, at S48, method includes the input energy resetting integration.
Fig. 7 shows that method detailed M5, method M5 illustrate shift mode selection technique.At S49
Place, the method includes whether the speed determining bicycle is zero.If bicycle speed is zero (at S49
Place is yes) method proceeds to S50.At S50, method includes being started by setting zero velocity labelling
Stop mode.
But, if bicycle speed is not zero (being no at S49), method advances to S51.
At S51, method includes determining that running resistance is whether on first threshold.If running resistance is not
On first threshold (being no at S51), method advances to S52.At S52, method bag
Include enforcement general mode.As discussed above, can determine that based on the frequency of stepping on detected in the ordinary mode
Velocity stage.
But, if running resistance (being yes at S51) on first threshold, method advances to
S53.At S53, method includes determining that input energy is whether under threshold value.If it is determined that input
Energy is (being no) at S53 not under threshold value, and method proceeds to S54.At S54, method
Including implementing high capacity pattern.As discussed above, based on the traveling detected in high capacity pattern
Resistance and the frequency of stepping on detected can determine that velocity stage.However, if it is determined that input energy threshold value it
Under (being yes at S53), method proceeds to S55.At S55, method includes implementing common mould
Formula.Method M5 can make running resistance and input energy all account for during shift mode selects,
To improve gear shift operation.
Fig. 8 shows that method detailed M6, method M6 illustrate shift mode selection technique.At S56
Place, the method includes determining whether high capacity pattern should be implemented.If it is determined that high capacity pattern should
Implementing (being yes at S56), method advances to S57.At S57, the method determines works as former riding
Frequently whether the lower limit of scope is more than stepping on frequently when high capacity patten transformation.
If it is determined that when former riding frequency scope lower limit more than to high capacity patten transformation time step on frequency (
It is yes at S57), method advances to S58.At S58, the method includes turning to high capacity pattern
Frequency of stepping on when changing deducts 3rpm, to limit the lower limit stepping on frequency scope, and increases 20rpm to negative to height
Carry patten transformation time step on frequency, with limit step on frequency scope the upper limit.
However, if it is determined that when the lower limit of former riding frequency scope is not more than to high capacity patten transformation
Stepping on frequency (being no at S57), method advances to S59.At S59, the method includes from currently
The lower limit stepping on frequency scope deducts 3rpm, to limit the lower limit stepping on frequency scope, and increases 20rpm to working as
The lower limit of former riding frequency scope, to limit the upper limit stepping on frequency scope.Will be appreciated by is to retouch in S58 and S59
The magnitude that the frequency scope of stepping on stated adjusts is actually exemplary, and in other implementations,
Can use other be suitable for step on frequency range adjustment.
If it is determined that high capacity pattern should not start (being no at S56), method advances to S60.
At S60, the method comprises determining whether to set zero velocity labelling.When bicycle speed is less than predetermined
Value or essentially a zero time can set zero velocity level labelling.
If setting zero velocity labelling (being yes at S60), method proceeds to S61, and it includes
Frequency is stepped on according to velocity stage quantity set.Depict at S62 and exemplary step on frequency scope and be associated
Velocity stage.But, anticipate many additional or interchangeable velocity stage and stepping on of being associated
Frequently scope.
If it is determined that do not set zero velocity labelling (being no at S60), method advances to S63.
At S63, the method comprises determining whether setting speed level skip flag.If it is determined that do not set
Velocity stage skip flag (being no at S63), method proceeds to S64.At S64, the method
Including by deducting 10rpm to limit lower limit and to increase 10rpm stepping on to standard from the frequency of stepping on of standard
Frequency limits with the restriction upper limit and steps on frequency scope.In one embodiment, the frequency of stepping on of standard can be to make
User is program-controlled.And, such as, the frequency of stepping on of initial standard can be the predetermined of such as 60rpm
Value.
However, if it is determined that non-setting speed level skip flag (being yes at S63), method continues
Continue to S65.At S65, the method includes by deducting 20rpm with under restriction from the frequency of stepping on of standard
Limit and increase 20rpm and limit to the frequency of stepping on of standard and step on frequently scope limiting the upper limit.Will be appreciated by is
Frequency scope of stepping in step S64 and S65 adjusts the most exemplary, and has anticipated perhaps
Step on frequency scope more and adjust degree.Method M6 enables the frequency scope of stepping on of present speed level based on bicycle
In different mode of operation adjust, improve gear shift operation being stepped on the border of frequency scope by increase, with
Prevent the unwanted gearshift in stage at the bicycle operation selected.
Fig. 9 shows that method detailed M7, method M7 illustrate gear shift operation.At S66, the method
Determine whether to select high capacity pattern.If it is determined that have selected high capacity pattern (being yes at S66),
Method proceeds to S67.At S67, the method includes allowing downshift operation.Will be appreciated by is downshift
It is included in and such as have selected fluid drive in the case of relatively low gear by the shift device of such as derailleur
Operation in device.
However, if it is determined that non-selected high capacity pattern (being no at S66), method proceeds to S68.
Before at S68, method includes determining when, whether velocity stage is more than or equal to the predetermined minimum for downshift
Velocity stage.If it is determined that present speed level is more than or equal to the predetermined minimum speed being intended for downshift
Level (being yes at S68), method proceeds to S69.At S69, method includes allowing downshift behaviour
Make.However, if it is determined that present speed level is not more than or is equal to the predetermined minimum speed for downshift
Level (being no at S68), method proceeds to S70.At S70, method includes forbidding that downshift is grasped
Make.Method M7 enables downshift to hold when implementing high capacity pattern and velocity stage more than minimum speed level
OK, the total amount of the energy being applied on crank axle is needed reducing rider.As a result, it is possible to improve
Trample efficiency and rider's fatigue can be reduced.Figure 10 shows the side view of example bicycle 1,
It the most illustratively illustrates.Figure 10 also show and include controller 3 and input equipment 6
Control equipment 10.Additionally, further depict there is shift device 17 (for example, front chain mover
And rear chiain-moving device) automatic transmission 2.As discussed above, controller 3 can order shift device
17 adjust the velocity stage in automatic transmission.Bicycle farther includes wheel 71 and vehicle frame 72.
Term as used herein " includes " and derivative is intended to open term, and it indicates institute
The existence of feature, element, parts, group, entirety and/or the step recorded, but it is not excluded for other not
The existence of feature, element, parts, group, entirety and/or the step recorded.This definition is also adapted to
Having the vocabulary of similar meaning, such as, term " has ", " comprising " and derivative thereof.
Degree term used herein, such as " substantially " means the reasonable amount of modified term
Deviation so that final result will not significantly change (such as manufacturing tolerance).
Although describe in detail the particular implementation of bicycle control device, but disclosed
Specific set-up mode means to be merely illustrative, and nonrestrictive.At model disclosed in this
In the case of enclosing, can combine in different ways the feature of various embodiment as described above with
And modification.
Claims (15)
1. it is used for a control equipment for the automatic transmission of bicycle, including:
Controller, it is configured to indicate described automatic transmission to shift gears between multiple velocity stages, each
Velocity stage have be associated step on frequency scope；
Wherein, described controller is further configured to determine the running resistance of described bicycle, and such as
The most described running resistance exceedes predetermined threshold, and described controller is configured to described in adjustment step in frequency scope
At least one；And
After described in adjusting, at least one steps on frequency scope, described controller is further configured to operate institute
State automatic transmission, to shift gears based on the frequency scope of stepping on adjusted and the frequency of stepping on detected.
Control equipment the most according to claim 1, wherein said controller be configured to receive from
Bicycle speed sensor, crank rotation speed sensor and the biography of at least one stepped in video sensor
Sensor inputs, and calculates described running resistance based on the input of described sensor.
Control equipment the most according to claim 2, wherein said controller is configured to according to following
The formula described running resistance of calculating:
Wherein
T=moment of torsion；
The quantity (time per unit) that N=crank axle rotates；
Bicycle described in m=and the quality of rider；And
V=bicycle speed.
Control equipment the most according to claim 1, wherein said controller is further configured to:
In the first shift mode, based on described detect step on frequency, from each having stepping on of being associated
Frequently velocity stage is determined among multiple velocity stages of scope；And
In the second shift mode, based on detected running resistance and described detect step on frequency really
Determine velocity stage.
Control equipment the most according to claim 4, wherein said first shift mode is common mould
Formula, is suitable for described first shift mode when described running resistance is less than described predetermined threshold, and
Described second shift mode is high capacity pattern, suitable when described running resistance exceedes described predetermined threshold
With described second shift mode.
Control equipment the most according to claim 4, at least two in wherein said velocity stage
Described step on frequency scope identical or overlapping.
Control equipment the most according to claim 4, wherein, in described first shift mode,
Scope frequently of stepping on described at least one in described velocity stage is stepped on frequency based on target and is determined.
Control equipment the most according to claim 4, wherein, in described first shift mode,
It is program-controlled by user that described target steps on frequency.
Control equipment the most according to claim 4, wherein said controller is further configured to out
Beginning velocity stage dancing mode, in described velocity stage dancing mode, steps on frequency range set for being more than temporarily
Frequency scope is stepped on, if stepping on frequency described in and beyond described velocity stage described in described first shift mode
Described in dancing mode steps on outside frequency scope temporarily, when described controller does not start described second gearshift
During pattern, described controller starts again at described first shift mode.
Control equipment the most according to claim 4, wherein said controller is further configured to work as
Detect and when bicycle speed is essentially a zero, start stop mode, and wherein in described stop mode,
Described frequency range set of stepping on is to step on be associated with described velocity stage predeterminedly frequency scope.
11. control equipment according to claim 4, wherein said controller is further configured to work as
High capacity pattern is started when input energy is up to or over predetermined threshold.
12. control equipment according to claim 11, wherein, described controller configures further
For detection to described high capacity patten transformation time conversion step on frequency, and be configured to turn when detected
Change when stepping on frequency more than the lower limit stepping on frequency scope of present speed level, step on frequency scope described in adjustment, to have
The upper limit of frequency is stepped in lower limit that frequency is stepped in the conversion detected described in being less than and the conversion detected described in being higher than.
13. control equipment according to claim 11, wherein, described controller configures further
For detection to described high capacity patten transformation time conversion step on frequency, and be configured to turn when detected
Change when stepping on frequency less than or equal to the lower limit stepping on frequency scope of present speed level, step on frequency scope described in adjustment,
There is the lower limit of the current lower limit stepping on frequency scope less than present speed level and higher than stepping on working as of frequency scope
The upper limit of the front upper limit.
14. control equipment according to claim 11,
Wherein drop to the frequency scope of stepping on of adjustment in described high capacity pattern when the described frequency of stepping on detected
Time under lower limit, described controller is configured to determine whether possible downshift, and if it is possible, order
Downshift operates；And
If wherein said controller is further configured to described controller does not start described high capacity mould
If formula and present speed level are equal to or less than predetermined minimum downshift velocity stage, forbid that downshift is grasped
Make.
15. control equipment according to claim 14, wherein said predetermined minimum downshift velocity stage
Set according to user and determine.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/724,759 | 2015-05-28 | ||
| US14/724,759 US9234580B1 (en) | 2015-05-28 | 2015-05-28 | Control device for an automatic transmission of a bicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184602A true CN106184602A (en) | 2016-12-07 |
| CN106184602B CN106184602B (en) | 2019-07-26 |
Family
ID=55026406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610343870.8A Active CN106184602B (en) | 2015-05-28 | 2016-05-23 | The control equipment of automatic transmission for bicycle |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9234580B1 (en) |
| CN (1) | CN106184602B (en) |
| DE (1) | DE102016005211A1 (en) |
| TW (1) | TWI671234B (en) |
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| CN109895929A (en) * | 2017-12-07 | 2019-06-18 | 弗莱克斯有限公司 | Electric clutch for electric assisted bicycle |
| CN111572695A (en) * | 2019-02-15 | 2020-08-25 | 什拉姆有限责任公司 | Bicycle control system |
| CN111661233A (en) * | 2019-03-07 | 2020-09-15 | 株式会社岛野 | Gear shifting system for a human powered vehicle |
| US11518472B2 (en) | 2019-02-15 | 2022-12-06 | Sram, Llc | Bicycle control system |
| CN115432105A (en) * | 2021-06-03 | 2022-12-06 | 什拉姆有限责任公司 | Bicycle control system |
| US11738826B2 (en) | 2019-02-15 | 2023-08-29 | Sram, Llc | Bicycle control system |
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| DE102015000422A1 (en) * | 2015-01-14 | 2016-07-14 | Sram Deutschland Gmbh | Method and apparatus for controlling automatic shifting of an electric gearshift device of a bicycle |
| DE102015206037B3 (en) * | 2015-04-02 | 2016-08-11 | Schaeffler Technologies AG & Co. KG | Device and method for automatically switching a gearbox of a bicycle, as well as use of the device |
| TWI636917B (en) * | 2017-05-09 | 2018-10-01 | 摩特動力工業股份有限公司 | ECVT (electronic stepless speed change) system and control method thereof |
| US11014630B2 (en) * | 2018-03-29 | 2021-05-25 | Shimano Inc. | Human-powered vehicle control device |
| JP7045238B2 (en) * | 2018-03-29 | 2022-03-31 | 株式会社シマノ | Control device for human-powered vehicles |
| US10640171B2 (en) * | 2019-03-25 | 2020-05-05 | Hazem Nihad Hamed | Automatic bicycle shifter and user interface |
| US10829179B2 (en) * | 2019-04-05 | 2020-11-10 | Shimano Inc. | Control system for human-powered vehicle |
| CN110654500A (en) * | 2019-10-17 | 2020-01-07 | 上海新案数字科技有限公司 | Automatic speed changing method and device for electric power-assisted bicycle |
| US11077908B1 (en) * | 2020-07-13 | 2021-08-03 | Hazem Nihad Hamed | Bicycle shifter user interface |
| US20220388602A1 (en) | 2021-06-03 | 2022-12-08 | Sram, Llc | Bicycle control system |
| US11767082B2 (en) * | 2021-07-05 | 2023-09-26 | Hazem Nihad Hamed | Automatic bicycle shifter and learn user interface |
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| CN111661233B (en) * | 2019-03-07 | 2022-04-29 | 株式会社岛野 | Gear shifting system for a human powered vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106184602B (en) | 2019-07-26 |
| US9234580B1 (en) | 2016-01-12 |
| TWI671234B (en) | 2019-09-11 |
| DE102016005211A1 (en) | 2016-12-01 |
| TW201641360A (en) | 2016-12-01 |
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